View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by The Research Repository @ WVU (West Virginia University) Graduate Theses, Dissertations, and Problem Reports 2001 Kinematic synthesis of a well service machine Prashanth Kaparthi West Virginia University Follow this and additional works at: https://researchrepository.wvu.edu/etd Recommended Citation Kaparthi, Prashanth, "Kinematic synthesis of a well service machine" (2001). Graduate Theses, Dissertations, and Problem Reports. 1197. https://researchrepository.wvu.edu/etd/1197 This Thesis is protected by copyright and/or related rights. It has been brought to you by the The Research Repository @ WVU with permission from the rights-holder(s). You are free to use this Thesis in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you must obtain permission from the rights-holder(s) directly, unless additional rights are indicated by a Creative Commons license in the record and/ or on the work itself. This Thesis has been accepted for inclusion in WVU Graduate Theses, Dissertations, and Problem Reports collection by an authorized administrator of The Research Repository @ WVU. For more information, please contact [email protected]. Kinematic Synthesis of a Well Service Machine Prashanth Kaparthi Thesis submitted to the College of Engineering and Mineral Resources at West Virginia University in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering Kenneth H. Means, Ph.D., Chair Gary J. Morris, Ph.D. Scott Wayne, Ph.D. Department of Mechanical and Aerospace Engineering Morgantown, West Virginia 2001 Keywords: Kinematic Synthesis, Four-position, Burmester, Four-bar, ADAMS ABSTRACT Kinematic Synthesis of a Well Service Machine Prashanth Kaparthi Blowout preventers are used in the oil well industry to prevent accidental oil fires and flare ups. These preventers are on site and guide valves need to be assembled atop the preventers. The current solution is to use cranes for this purpose. As this is time-consuming and relatively expensive, a solution using an appropriate mechanism for this purpose was contemplated. In this research project, a four-bar mechanism was designed using Burmester theory and the four- position synthesis method. The angles and distance of the four positions were calculated and the data obtained was specified as input for the synthesis of the four-bar mechanism using four-position synthesis programmed in MATLAB™. The moving pivots (k) and the ground pivots (m) were obtained from the MATLAB program. These values were then used in calculating the link lengths W and Z. These link lengths were input to ADAMS™ software to simulate the behavior of the mechanism. Two mechanism configurations were evaluated and the mechanical advantage was calculated to select the better design. Results suggest that the method of four-position synthesis can used to design an appropriate mechanism to place the guide valve on the blowout preventer. The mechanical advantage of the mechanisms obtained was in the range of 1-7. Different parameters of interest like the output force and coupler curves were also obtained for both mechanisms. To Family, God, and Friends iii ACKNOWLEDGEMENTS First and foremost, I would like to thank my parents Mr. K.N.S.Gupta, Mrs. K.Nirmala Gupta, and my Sisters and also my Supervisor Mr. Larry Leahy at Ford Motor Company for supporting and encouraging me all along. I would like to express my heartfelt gratitude to my research advisor, Dr. Kenneth H. Means, without whose support and patient guidance, this thesis would never have been completed. I would like to thank my committee members, Dr. Gary J. Morris and Dr. Scott Wayne for being very supportive and helpful. I would like to thank my friends Mr. Govinda Raju Mandapati, Mr. Ron Johnson and Mr. Ganesh Thyagarajan for their help and suggestions. Last but obviously not the least, I would like to thank God for providing me with the necessary persistence and patience to see it through. iv Table of contents Chapter 1. Introduction..................................................................................................................................................1 1.1. Mechanisms........................................................................................................................................................1 1.2. Four-bar Mechanism...........................................................................................................................................3 1.3. Problem Description ...........................................................................................................................................4 1.3.1. Background and Motivation ..................................................................................................................4 1.3.2. Locating Oil Sources .............................................................................................................................5 1.3.3. Preparation for Drilling..........................................................................................................................5 1.3.4. Rig Setup ...............................................................................................................................................6 1.3.5. Drilling Process .....................................................................................................................................6 1.3.6. Extraction of Oil ....................................................................................................................................7 1.3.7. Final Steps and Problems.......................................................................................................................7 1.4. Objectives ...........................................................................................................................................................7 1.5. Mechanism Design .............................................................................................................................................8 1.6. Analysis Versus Synthesis..................................................................................................................................9 1.7. Outline of the Thesis...........................................................................................................................................9 Chapter 2. Literature Review.......................................................................................................................................11 2.1. Past Investigations ............................................................................................................................................11 2.2. Origin and Evolution of the Mechanism...........................................................................................................11 Chapter 3. Methods and Materials...............................................................................................................................16 3.1. Design of the Four-bar Mechanism ..................................................................................................................16 3.1.1. Four Position Synthesis .......................................................................................................................16 3.2. Solution Procedure ...........................................................................................................................................18 3.3. Calculation of Mechanical Advantage (M.A.)..................................................................................................19 3.4. Calculation of M.A. using Burmester Curves...................................................................................................20 3.5. Degree of Freedom ...........................................................................................................................................20 3.6. ADAMS Modeling ...........................................................................................................................................21 3.7. Design Process Steps for the Mechanism Model..............................................................................................22 3.7.1. Creating the Parts of the Model. ..........................................................................................................22 3.7.2. Test and Validation of the Model. .......................................................................................................23 3.7.3. Refine the Model and Iterate................................................................................................................24 3.7.4. Optimization of the Model...................................................................................................................25 Chapter 4. Results........................................................................................................................................................26 4.1. Selection of Burmester Curves .........................................................................................................................26 4.2. Sample Problem................................................................................................................................................30 4.3. Results for Design Number